for mname in interface['methods']:
method = interface['methods'][mname]
outValues = []
if method['return'] != 'void':
outValues.append([method['return'], 'ret'])
paramStrA = ''
for p in method['params']:
if p['decorator'] == 'out':
outValues.append([p['type'], p['name']])
else:
paramStrA += ', ' + p['name']
cog.outl('')
cog.outl('<TABHERE>#')
cog.outl('<TABHERE># ' + 'SUBSCRIPTION to '+ method['name'] +' method from ' + interface['name'] + ' interface')
cog.outl('<TABHERE>#')
if not communicationIsIce(imp):
cog.outl('<TABHERE>def ROS' + interface['name'] + "_" + method['name'] + '(self' + paramStrA + "):")
else:
cog.outl('<TABHERE>def ' + interface['name'] + "_" + method['name'] + '(self' + paramStrA + "):")
if method['return'] != 'void': cog.outl("<TABHERE><TABHERE>ret = "+method['return']+'()')
cog.outl("<TABHERE><TABHERE>#")
cog.outl("<TABHERE><TABHERE>#subscribesToCODE")
cog.outl("<TABHERE><TABHERE>#")
if len(outValues) == 0:
cog.outl("<TABHERE><TABHERE>pass\n")
elif len(outValues) == 1:
if method['return'] != 'void':
cog.outl("<TABHERE><TABHERE>return ret\n")
else:
cog.outl("<TABHERE><TABHERE>"+outValues[0][1]+" = "+replaceTypeCPP2Python(outValues[0][0])+"()")
cog.outl("<TABHERE><TABHERE>return "+outValues[0][1]+"\n")
params[1] = '--Ice.Config=' + params[1]
elif len(params) == 1:
params.append('--Ice.Config=config')
ic = Ice.initialize(params)
status = 0
mprx = {}
parameters = {}
for i in ic.getProperties():
parameters[str(i)] = str(ic.getProperties().getProperty(i))
[[[cog
try:
needIce = False
needStorm = False
for req in component['requires']:
if communicationIsIce(req):
needIce = True
for imp in component['implements']:
if communicationIsIce(imp):
needIce = True
for pub in component['publishes']:
if communicationIsIce(pub):
needIce = True
needStorm = True
for sub in component['subscribesTo']:
if communicationIsIce(sub):
needIce = True
needStorm = True
if needStorm:
cog.outl("""
<TABHERE># Topic Manager
<TABHERE>proxy = ic.getProperties().getProperty("TopicManager.Proxy")
def generarH(idslFile, imported):
idsl = gimmeIDSLStruct(idslFile,
files='',
includeDirectories=includeDirectories)
os.system("rm -f " + outputPath + "/" + idsl['module']['name'] +
"ROS/msg/__init__.py")
os.system("rm -f " + outputPath + "/" + idsl['module']['name'] +
"ROS/srv/__init__.py")
for imp in idsl['module']['contents']:
if imp['type'] in ['struct', 'sequence']:
for f in ["SERVANT.MSG"]:
ofile = outputPath + "/" + imp['name'] + "." + f.split(
'.')[-1].lower()
print('Generating', ofile, ' (servant for',
idslFile.split('.')[0].lower() + ')')
# Call cog
run = "cog.py -z -d" + ' -D theIDSLPaths=' + '#'.join(
includeDirectories
) + " -D structName=" + imp[
'name'] + " -D theIDSL=" + idslFile + " -o " + ofile + " " + "/opt/robocomp/share/robocompdsl/templateCPP/" + f
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
commandCPP = "/opt/ros/melodic/lib/gencpp/gen_cpp.py " + ofile + " -Istd_msgs:/opt/ros/melodic/share/std_msgs/msg -I" + idsl[
'module']['name'] + "ROS:" + outputPath
commandPY = "/opt/ros/melodic/lib/genpy/genmsg_py.py " + ofile + " -Istd_msgs:/opt/ros/melodic/share/std_msgs/msg -I" + idsl[
'module']['name'] + "ROS:" + outputPath
for impo in imported:
if not impo == idsl['module']['name'] + "ROS":
commandCPP = commandCPP + " -I" + impo + ":" + outputPath
commandPY = commandPY + " -I" + impo + ":" + outputPath
if not os.path.exists(outputPath):
create_directory(outputPath)
commandCPP = commandCPP + " -p " + idsl['module'][
'name'] + "ROS -o " + outputPath + "/" + idsl['module'][
'name'] + "ROS -e /opt/ros/melodic/share/gencpp"
commandPY = commandPY + " -p " + idsl['module'][
'name'] + "ROS -o " + outputPath + "/" + idsl[
'module']['name'] + "ROS/msg"
if comp['language'].lower() == 'cpp':
os.system(commandCPP)
else:
os.system(commandPY)
try:
fileInit = open(
outputPath + "/" + idsl['module']['name'] +
"ROS/msg/__init__.py", 'a')
fileInit.write("from ._" + imp['name'] + " import *\n")
fileInit.close()
except:
pass
for imp in idsl['module']['contents']:
if imp['type'] == 'interface':
for ima in component['implements'] + component['requires']:
im = ima
if type(im) != type(''):
im = im[0]
if not communicationIsIce(ima) and im == imp['name']:
for method in imp['methods']:
if 'params' in method:
if len(method['params']) == 2:
for f in ["SERVANT.SRV"]:
ofile = outputPath + "/" + method[
'name'] + "." + f.split(
'.')[-1].lower()
print(
'Generating', ofile,
' (servant for',
idslFile.split('.')[0].lower() +
')')
# Call cog
run = "cog.py -z -d" + ' -D theIDSLPaths=' + '#'.join(
includeDirectories
) + " -D methodName=" + method[
'name'] + " -D theIDSL=" + idslFile + " -o " + ofile + " " + "/opt/robocomp/share/robocompdsl/templateCPP/" + f
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
commandCPP = "/opt/ros/melodic/lib/gencpp/gen_cpp.py " + ofile + " -Istd_msgs:/opt/ros/melodic/share/std_msgs/msg -Istd_srvs:/opt/ros/melodic/share/std_srv/cmake/../srv -I" + idsl[
'module'][
'name'] + "ROS:" + outputPath
commandPY = "/opt/ros/melodic/lib/genpy/gensrv_py.py " + ofile + " -Istd_msgs:/opt/ros/melodic/share/std_msgs/msg -Istd_srvs:/opt/ros/kinetic/share/std_srv/cmake/../srv -I" + idsl[
'module'][
'name'] + "ROS:" + outputPath
for impo in imported:
if not impo == idsl['module'][
'name'] + "ROS":
commandCPP = commandCPP + " -I" + impo + ":" + outputPath
commandPY = commandPY + " -I" + impo + ":" + outputPath
if not os.path.exists(outputPath):
create_directory(outputPath)
commandCPP = commandCPP + " -p " + idsl[
'module'][
'name'] + "ROS -o " + outputPath + "/" + idsl[
'module'][
'name'] + "ROS -e /opt/ros/melodic/share/gencpp/cmake/.."
commandPY = commandPY + " -p " + idsl[
'module'][
'name'] + "ROS -o " + outputPath + "/" + idsl[
'module'][
'name'] + "ROS/srv"
if comp['language'].lower() == 'cpp':
os.system(commandCPP)
else:
os.system(commandPY)
try:
fileInit = open(
outputPath + "/" +
idsl['module']['name'] +
"ROS/srv/__init__.py", 'a')
fileInit.write("from ._" +
method['name'] +
" import *\n")
fileInit.close()
except:
pass
else:
print(
"error: ROS service with incorrect number of parameters. ROS only supports remote procedure calls of the form: void method(type inVar, out type outVar);"
)
for param in enumerate(method['params']):
print(param[0], '-->', param[1])
sys.exit(-1)
else:
print(
"error: service without params. Form is: void method(type inVar, out type outVar);"
)
sys.exit(-1)
os.system("touch " + outputPath + "/" + idsl['module']['name'] +
"ROS/__init__.py")
return idsl['module']['name'] + "ROS"
def main():
parser = MyParser(
description=
'This application create components files from cdsl files or .ice from idsl\n'
'\ta) to generate code from a CDSL file: ' +
sys.argv[0].split('/')[-1] + ' INPUT_FILE.CDSL OUTPUT_PATH\n' +
'\tb) to generate a new CDSL file: ' +
sys.argv[0].split('/')[-1] + ' NEW_COMPONENT_DESCRIPTOR.CDSL',
formatter_class=argparse.RawTextHelpFormatter)
parser.add_argument("-I",
"--include_dirs",
nargs='*',
help="Include directories",
action=FullPaths,
default=[])
parser.add_argument("-d",
'--diff',
dest='diff',
choices=DIFF_TOOLS,
action='store')
parser.add_argument("input_file", help="The input dsl file")
parser.add_argument("output_path",
nargs='?',
help="The path to put the files")
args = parser.parse_args()
if args.output_path is None:
if args.input_file.endswith(".cdsl"):
generateDummyCDSL(args.input_file)
generateDummySMDSL("statemachine.smdsl")
sys.exit(0)
else:
print(args.output_path, args.input_file)
print(parser.error("No output path with non .cdsl file"))
sys.exit(-1)
inputFile = args.input_file
outputPath = args.output_path
sys.path.append('/opt/robocomp/python')
new_existing_files = {}
if inputFile.endswith(".cdsl"):
component = DSLFactory().from_file(
inputFile, includeDirectories=args.include_dirs)
imports = ''.join([imp + '#' for imp in component['imports']])
# verification
pool = IDSLPool(imports, args.include_dirs)
interface_list = component['requires'] + component[
'implements'] + component['subscribesTo'] + component['publishes']
for interface_required in interface_list:
interface_required = interface_required if isinstance(
interface_required, str) else interface_required[0]
if not pool.moduleProviding(interface_required):
raise rcExceptions.InterfaceNotFound(interface_required,
pool.interfaces())
if component['language'].lower(
) == 'cpp' or component['language'].lower() == 'cpp11':
#
# Check output directory
#
if not os.path.exists(outputPath):
create_directory(outputPath)
# Create directories within the output directory
try:
create_directory(outputPath + "/bin")
create_directory(outputPath + "/etc")
create_directory(outputPath + "/src")
except:
print('There was a problem creating a directory')
sys.exit(1)
pass
#
# Generate regular files
#
files = [
'CMakeLists.txt', 'DoxyFile', 'README-STORM.txt', 'README.md',
'etc/config', 'src/main.cpp', 'src/CMakeLists.txt',
'src/CMakeListsSpecific.txt', 'src/commonbehaviorI.h',
'src/commonbehaviorI.cpp', 'src/genericmonitor.h',
'src/genericmonitor.cpp', 'src/config.h',
'src/specificmonitor.h', 'src/specificmonitor.cpp',
'src/genericworker.h', 'src/genericworker.cpp',
'src/specificworker.h', 'src/specificworker.cpp',
'src/mainUI.ui'
]
specificFiles = [
'src/specificworker.h', 'src/specificworker.cpp',
'src/CMakeListsSpecific.txt', 'src/mainUI.ui',
'src/specificmonitor.h', 'src/specificmonitor.cpp',
'README.md', 'etc/config'
]
for f in files:
ofile = outputPath + '/' + f
if f in specificFiles and os.path.exists(ofile):
print('Not overwriting specific file "' + ofile +
'", saving it to ' + ofile + '.new')
new_existing_files[os.path.abspath(
ofile)] = os.path.abspath(ofile) + '.new'
ofile += '.new'
ifile = "/opt/robocomp/share/robocompdsl/templateCPP/" + f
if f != 'src/mainUI.ui' or component['gui'] is not None:
print('Generating', ofile)
run = "cog.py -z -d -D theCDSL=" + inputFile + " -D theIDSLs=" + imports + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs) + " -o " + ofile + " " + ifile
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
#
# Generate interface-dependent files
#
for ima in component['implements']:
im = ima
if type(im) != type(''):
im = im[0]
if communicationIsIce(ima):
for f in ["SERVANT.H", "SERVANT.CPP"]:
ofile = outputPath + '/src/' + im.lower(
) + 'I.' + f.split('.')[-1].lower()
print('Generating ', ofile, ' (servant for', im + ')')
# Call cog
run = "cog.py -z -d -D theCDSL=" + inputFile + " -D theIDSLs=" + imports + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs
) + " -D theInterface=" + im + " -o " + ofile + " " + "/opt/robocomp/share/robocompdsl/templateCPP/" + f
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
for imp in component['subscribesTo']:
im = imp
if type(im) != type(''):
im = im[0]
if communicationIsIce(imp):
for f in ["SERVANT.H", "SERVANT.CPP"]:
ofile = outputPath + '/src/' + im.lower(
) + 'I.' + f.split('.')[-1].lower()
print('Generating ', ofile, ' (servant for', im + ')')
# Call cog
theInterfaceStr = im
if type(theInterfaceStr) == type([]):
theInterfaceStr = str(';'.join(im))
run = "cog.py -z -d -D theCDSL=" + inputFile + " -D theIDSLs=" + imports + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs
) + " -D theInterface=" + theInterfaceStr + " -o " + ofile + " " + "/opt/robocomp/share/robocompdsl/templateCPP/" + f
#print(run
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
elif component['language'].lower() == 'python':
#
# Check output directory
#
if not os.path.exists(outputPath):
create_directory(outputPath)
# Create directories within the output directory
try:
create_directory(outputPath + "/etc")
create_directory(outputPath + "/src")
except:
print('There was a problem creating a directory')
sys.exit(1)
pass
needStorm = False
for pub in component['publishes']:
if communicationIsIce(pub):
needStorm = True
for sub in component['subscribesTo']:
if communicationIsIce(sub):
needStorm = True
#
# Generate regular files
#
files = [
'CMakeLists.txt', 'DoxyFile', 'README-STORM.txt', 'README.md',
'etc/config', 'src/main.py', 'src/genericworker.py',
'src/specificworker.py', 'src/mainUI.ui'
]
specificFiles = [
'src/specificworker.py', 'src/mainUI.ui', 'README.md',
'etc/config'
]
for f in files:
if f == 'src/main.py':
ofile = outputPath + '/src/' + component['name'] + '.py'
else:
ofile = outputPath + '/' + f
if f in specificFiles and os.path.exists(ofile):
print('Not overwriting specific file "' + ofile +
'", saving it to ' + ofile + '.new')
new_existing_files[os.path.abspath(
ofile)] = os.path.abspath(ofile) + '.new'
ofile += '.new'
ifile = "/opt/robocomp/share/robocompdsl/templatePython/" + f
ignoreFile = False
if f == 'src/mainUI.ui' and component['gui'] is None:
ignoreFile = True
if f == 'CMakeLists.txt' and component['gui'] is None:
ignoreFile = True
if f == 'README-STORM.txt' and needStorm == False:
ignoreFile = True
if not ignoreFile:
print('Generating', ofile)
run = "cog.py -z -d -D theCDSL=" + inputFile + " -D theIDSLs=" + imports + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs) + " -o " + ofile + " " + ifile
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
if f == 'src/main.py':
os.chmod(ofile, os.stat(ofile).st_mode | 0o111)
#
# Generate interface-dependent files
#
for imp in component['implements'] + component['subscribesTo']:
if type(imp) != type(''):
im = imp[0]
else:
im = imp
if communicationIsIce(imp):
for f in ["SERVANT.PY"]:
ofile = outputPath + '/src/' + im.lower(
) + 'I.' + f.split('.')[-1].lower()
print('Generating', ofile, ' (servant for', im + ')')
# Call cog
run = "cog.py -z -d -D theCDSL=" + inputFile + " -D theIDSLs=" + imports + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs
) + " -D theInterface=" + im + " -o " + ofile + " " + "/opt/robocomp/share/robocompdsl/templatePython/" + f
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(ofile)
else:
print('Unsupported language', component['language'])
if component['usingROS'] == True:
for imp in component['imports']:
generateROSHeaders(imp, outputPath + "/src", component,
args.include_dirs)
# Code to launch diff tool on .new files to be compared with their old version
if args.diff is not None:
diff_tool, _ = get_diff_tool(prefered=args.diff)
print(
"Executing diff tool for existing files. Close if no change is needed."
)
for o_file, n_file in new_existing_files.items():
if not filecmp.cmp(o_file, n_file):
print([diff_tool, o_file, n_file])
try:
subprocess.call([diff_tool, o_file, n_file])
except KeyboardInterrupt as e:
print(
"Comparasion interrupted. All files have been generated. Check this .new files manually:"
)
for o_file2, n_file2 in new_existing_files.items():
if not filecmp.cmp(o_file2, n_file2):
print("%s %s" % (o_file2, n_file2))
break
except Exception as e:
print("Exception trying to execute %s" % (diff_tool))
print(e.message)
else:
print("Binary equal files %s and %s" % (o_file, n_file))
elif inputFile.endswith(".idsl"):
# idsl = IDSLParsing.fromFileIDSL(inputFile)
print('Generating ICE file ', outputPath)
# Call cog
run = "cog.py -z -d" + " -D theIDSL=" + inputFile + ' -D theIDSLPaths=' + '#'.join(
args.include_dirs
) + " -o " + outputPath + " /opt/robocomp/share/robocompdsl/TEMPLATE.ICE"
run = run.split(' ')
ret = Cog().main(run)
if ret != 0:
print('ERROR')
sys.exit(-1)
replaceTagsInFile(outputPath)
def string_to_struct(self, string, **kwargs):
parsing_result = self.parse_string(string)
component = OrderedDict()
# print 'parseCDSL.component', includeDirectories
if self._include_directories == None:
self._include_directories = []
if "include_directories" in kwargs:
self._include_directories = kwargs["include_directories"]
# Set options
component['options'] = []
try:
for op in parsing_result['component']['content']['options']:
component['options'].append(op.lower())
except:
traceback.print_exc()
# Component name
component['name'] = parsing_result['component']['name']
# Imports
component['imports'] = []
component['recursiveImports'] = []
try:
imprts = [
path['idsl_path']
for path in parsing_result.asDict()["imports"]
]
except:
parsing_result['imports'] = []
imprts = []
if isAGM1Agent(component):
imprts.extend([
'AGMExecutive.idsl', 'AGMCommonBehavior.idsl',
'AGMWorldModel.idsl', 'AGMExecutiveTopic.idsl'
])
if isAGM2Agent(component):
imprts.extend(['AGM2.idsl'])
iD = self._include_directories + [
'/opt/robocomp/interfaces/IDSLs/',
os.path.expanduser('~/robocomp/interfaces/IDSLs/')
]
for imp in sorted(imprts):
import_basename = os.path.basename(imp)
component['imports'].append(import_basename)
component['recursiveImports'] = generateRecursiveImports(
component['imports'], self._include_directories)
# Language
component['language'] = parsing_result['component']['content'][
'language']
# Statemachine
component['statemachine'] = None
try:
statemachine = parsing_result['component']['content'][
'statemachine']['machine_path']
component['statemachine'] = statemachine
except:
pass
try:
statemachine_visual = parsing_result['component']['content'][
'statemachine']['visual']
except:
component['statemachine_visual'] = False
else:
component['statemachine_visual'] = statemachine_visual
# innermodelviewer
component['innermodelviewer'] = False
try:
component['innermodelviewer'] = 'innermodelviewer' in [
x.lower() for x in component['options']
]
pass
except:
pass
# GUI
component['gui'] = None
try:
uiT = parsing_result['component']['content']['gui'][0]
uiI = parsing_result['component']['content']['gui']['gui_options']
if uiT.lower() == 'qt' and uiI in [
'QWidget', 'QMainWindow', 'QDialog'
]:
component['gui'] = [uiT, uiI]
pass
else:
print(('Wrong UI specification',
parsing_result['properties']['gui']))
sys.exit(1)
except:
# TODO: check exceptions and do something when accessing gui options fails.
pass
# Communications
component['rosInterfaces'] = []
component['iceInterfaces'] = []
component['implements'] = []
component['requires'] = []
component['publishes'] = []
component['subscribesTo'] = []
component['usingROS'] = False
####################
com_types = ['implements', 'requires', 'publishes', 'subscribesTo']
communications = parsing_result['component']['content'][
'communications']
for comm_type in com_types:
if comm_type in communications:
interfaces = sorted(communications[comm_type])
for interface in interfaces:
component[comm_type].append(interface)
if communicationIsIce(interface):
component['iceInterfaces'].append(interface)
else:
component['rosInterfaces'].append(interface)
component['usingROS'] = True
# Handle options for communications
if isAGM1Agent(component):
component['iceInterfaces'] += [
'AGMCommonBehavior', 'AGMExecutive', 'AGMExecutiveTopic',
'AGMWorldModel'
]
if not 'AGMCommonBehavior' in component['implements']:
component['implements'] = ['AGMCommonBehavior'
] + component['implements']
if not 'AGMExecutive' in component['requires']:
component['requires'] = ['AGMExecutive'
] + component['requires']
if not 'AGMExecutiveTopic' in component['subscribesTo']:
component['subscribesTo'] = ['AGMExecutiveTopic'
] + component['subscribesTo']
if isAGM2Agent(component):
if isAGM2AgentROS(component):
component['usingROS'] = True
agm2agent_requires = [['AGMDSRService', 'ros']]
agm2agent_subscribesTo = [['AGMExecutiveTopic', 'ros'],
['AGMDSRTopic', 'ros']]
if not 'AGMDSRService' in component['rosInterfaces']:
component['rosInterfaces'].append('AGMDSRService')
if not 'AGMDSRTopic' in component['rosInterfaces']:
component['rosInterfaces'].append('AGMDSRTopic')
if not 'AGMExecutiveTopic' in component['rosInterfaces']:
component['rosInterfaces'].append('AGMExecutiveTopic')
else:
agm2agent_requires = [['AGMDSRService', 'ice']]
agm2agent_subscribesTo = [['AGMExecutiveTopic', 'ice'],
['AGMDSRTopic', 'ice']]
if not 'AGMDSRService' in component['iceInterfaces']:
component['iceInterfaces'].append('AGMDSRService')
if not 'AGMDSRTopic' in component['iceInterfaces']:
component['iceInterfaces'].append('AGMDSRTopic')
if not 'AGMExecutiveTopic' in component['iceInterfaces']:
component['iceInterfaces'].append('AGMExecutiveTopic')
# AGM2 agents REQUIRES
for agm2agent_req in agm2agent_requires:
if not agm2agent_req in component['requires']:
component['requires'] = [agm2agent_req
] + component['requires']
# AGM2 agents SUBSCRIBES
for agm2agent_sub in agm2agent_subscribesTo:
if not agm2agent_sub in component['subscribesTo']:
component['subscribesTo'] = [agm2agent_sub
] + component['subscribesTo']
self.struct = component
return component
cog.outl('<TABHERE><TABHERE>Ice.loadSlice(wholeStr)')
cog.outl('<TABHERE><TABHERE>ice_'+name+' = True')
cog.outl('<TABHERE><TABHERE>break')
cog.outl('if not ice_'+name+':')
cog.outl("<TABHERE>print('Couln\\\'t load "+name+"')")
cog.outl('<TABHERE>sys.exit(-1)')
module = gimmeIDSL(file_name, files='', includeDirectories=includeDirectories)
cog.outl('from '+ module['name'] +' import *')
]]]
[[[end]]]
[[[cog
for im in component['implements'] + component['subscribesTo']:
if communicationIsIce(im):
cog.outl('from ' + im.lower() + 'I import *')
]]]
[[[end]]]
[[[cog
if component['usingROS'] == True:
cog.outl('import rospy')
cog.outl('from std_msgs.msg import *')
msgIncludes = {}
for imp in component['publishes']:
if type(imp) == str:
im = imp
else:
im = imp[0]
if not communicationIsIce(imp):
